CN214546666U - Sea cucumber catching robot - Google Patents

Sea cucumber catching robot Download PDF

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Publication number
CN214546666U
CN214546666U CN202120469944.9U CN202120469944U CN214546666U CN 214546666 U CN214546666 U CN 214546666U CN 202120469944 U CN202120469944 U CN 202120469944U CN 214546666 U CN214546666 U CN 214546666U
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CN
China
Prior art keywords
sea cucumber
pitching
suction pipe
fixedly connected
suction
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CN202120469944.9U
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Chinese (zh)
Inventor
陶泽文
刘研峰
王亚丽
孙华磊
陶一锐
刘秀颖
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Future Offshore Intelligent Equipment Shandong Co ltd
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Future Offshore Intelligent Equipment Shandong Co ltd
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Priority to CN202120469944.9U priority Critical patent/CN214546666U/en
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Abstract

The utility model relates to the field of underwater fishing technical equipment, in particular to a sea cucumber fishing robot, which comprises a frame, wherein the frame is provided with a control system, a suction power mechanism, a sea cucumber storage container and a sea cucumber suction pipe, a suction pipe pitching mechanism is arranged between the sea cucumber suction pipe and the frame, the suction pipe pitching mechanism comprises a pitching motor fixing seat, a pitching motor, a synchronous belt, a pitching driving wheel, a pitching driven wheel and a connecting rod, the sea cucumber suction pipe comprises a steel wire hose, a suction pipe clamping sleeve and a suction pipe elbow, one end of the steel wire hose is fixedly connected with the sea cucumber storage container, the other end of the steel wire hose is fixedly connected with the suction pipe elbow, the two sides of the steel wire hose are respectively provided with the connecting rod, a suction pipe transverse rotating mechanism is arranged between the sea cucumber suction pipe and the frame, the suction pipe transverse rotating mechanism comprises a transverse rotating motor, a transverse rotating fixing seat, a transverse driving wheel, a transverse rotating driven wheel, a synchronous belt and a transverse rotating driven wheel shaft, the utility model discloses but the suction tube every single move yaw, absorb the sea cucumber efficient, energy consumption is few, the sea cucumber takes out the convenience, the battery is changed conveniently.

Description

Sea cucumber catching robot
Technical Field
The utility model relates to an underwater fishing technical equipment field specifically indicates a sea cucumber fishing robot.
Background
At present, the sea cucumber catching generally adopts a manual catching mode, the application of machine catching is less, the manual catching work is complicated, the working strength is high, a diver needs to wear a diving suit to carry an oxygen mask to submerge to the sea bottom, search the sea cucumbers and pick the sea cucumbers one by one and place the sea cucumbers into mesh bags, the catching mode has low efficiency, factors such as low seawater temperature, high underwater pressure, severe underwater environment and the like can cause certain harm to the human body, Chinese patent CN210538307U discloses a suction type sea cucumber catching robot which comprises a box cover, a containing container and a supporting base, buoyancy devices are arranged on the left side and the right side of the containing container, a sea cucumber identification and positioning system, a storage battery and a driving control system are arranged in the buoyancy devices, vertical propulsion devices and horizontal propulsion devices are respectively arranged on the left side and the bottom of the containing container, suction hoses are arranged on the box cover, the suction end is connected with a rigid manipulator, one end of the rigid manipulator is connected with the output end of a steering engine arranged at the bottom of the container, a suction power device is arranged inside the container and fixed on a box cover, the front end of the container and the rigid manipulator are provided with a camera and a lighting device, a water outlet is arranged on the box cover, a handle facilitates the opening and closing of the box cover, a suction inlet is used for installing a suction hose, a fixing ring is used for fixing the suction hose, the rigid manipulator comprises a rotating pillar, a mechanical arm and a clamping ring, the rotating pillar controls the movement of the mechanical arm, the clamping ring is connected with the suction hose and drives the suction hose to move, the horizontal propulsion device and the vertical propulsion device have the same structure, and the horizontal propulsion device comprises a propulsion driving motor, a rack, a safety hood and a propulsion propeller; the propulsion driving motor drives the propulsion propeller to rotate to provide driving force, the rack is used for fixedly mounting the propulsion driving motor, the propulsion propeller is protected by the safety cover, and the suction power device comprises a suction driving motor, a separation cover and a drainage propeller; absorb driving motor and install and separate the cover lower extreme, separate the cover upper portion and pass through the bolt and be connected with the case lid, the not enough of above-mentioned patent: firstly, when sea cucumbers exist in underwater places with different heights, the robot in the patent needs to frequently move up and down to drive the suction hose to move up and down to pick up the sea cucumbers, time and labor are wasted, energy consumption is high, and the efficiency of sea cucumber picking operation is low; secondly, the case lid in above-mentioned patent is opened and shut through the handle, and the suction hose is adorned on the case lid too, and this just makes the case lid open inconveniently, and the sea cucumber takes out and needs one to take out from the case lid, and is very troublesome, if whole topples over, still needs to move the robot, and is very hard.
Disclosure of Invention
The utility model aims at solving the prior art not enough, provide a but the every single move of suction tube can violently change, absorb the sea cucumber efficient, energy consumption is few, the sea cucumber takes out convenience, fast, the convenient sea cucumber fishing robot is changed to the battery.
In order to achieve the above object, the utility model adopts the following technical scheme:
the utility model provides a sea cucumber fishing robot, includes the frame, be equipped with control system, absorb power unit, sea cucumber on the frame and deposit container and sea cucumber suction tube, its characterized in that: the sea cucumber suction pipe pitching mechanism is arranged between the sea cucumber suction pipe and the rack, the sea cucumber suction pipe pitching mechanism is connected with the rack, and the sea cucumber suction pipe pitching mechanism drives the sea cucumber suction pipe to perform pitching operation.
The pitching mechanism of the suction pipe of the utility model comprises a pitching motor fixing seat, a pitching motor, a synchronous belt, a pitching driving wheel, a pitching driven wheel and a connecting rod, wherein the sea cucumber suction pipe comprises a steel wire hose, a suction pipe clamping sleeve and a suction pipe elbow, one end of the steel wire hose is fixedly connected with a sea cucumber storage container, the other end of the steel wire hose is fixedly connected with the suction pipe elbow, the pitching motor fixing seat is fixedly arranged on the steel wire hose, the connecting rods are respectively arranged at two sides of the steel wire hose, the suction pipe clamping sleeve is arranged on the suction pipe elbow, the suction pipe clamping sleeve is sleeved on the suction pipe elbow and is fixedly connected with the suction pipe elbow, the pitching motor fixing seat is connected with a frame, the pitching motor is fixedly arranged on the pitching motor fixing seat, the pitching motor is connected with a control system, the pitching driving wheel is fixedly arranged on an output shaft of the pitching motor, the pitching driving wheel is connected with the pitching driven wheel through the synchronous belt, the fixed shaft of the pitching driven wheel is fixedly connected with the pitching motor fixing seat through a bearing, one end of a connecting rod at one side of the steel wire hose is fixedly connected with the fixed shaft of the pitching driven wheel, the other end of the connecting rod is fixedly connected with the suction pipe jacket, one end of the connecting rod at the other side of the steel wire hose is connected with the pitching motor fixing seat through the shaft and the bearing, and the other end of the connecting rod is fixedly connected with the suction pipe jacket, so that the pitching driven wheel is driven by the pitching motor to drive the pitching driven wheel to rotate through a synchronous belt, the pitching driven wheel drives the steel wire hose to pitch through the connecting rod, pitching motion of a suction pipe elbow is achieved, underwater sea cucumbers with different heights are picked up without moving a frame, the sea cucumber picking efficiency is high, and the energy consumption is low.
The utility model discloses a be equipped with between sea cucumber suction tube and the frame and absorb tub sideslip mechanism, it includes sideslip motor, sideslip fixing base, sideslip drive wheel, sideslip driven wheel, hold-in range and sideslip driven wheel axle to absorb tub sideslip mechanism, pitching motor fixing base one side is equipped with the sideslip fixing base, pitching motor fixing base upper end is equipped with the back shaft, and the lower extreme is equipped with the sideslip driven wheel axle, back shaft upper end through bearing and frame fixed connection, the lower extreme and pitching motor fixing base fixed connection, the sideslip fixing base and frame fixed connection, the fixed sideslip motor that is equipped with on the sideslip fixing base, the sideslip motor is connected with control system, the fixed sideslip drive wheel that is equipped with on the output shaft of sideslip motor, the sideslip drive wheel is connected with the sideslip driven wheel through the hold-in range, the sideslip driven wheel is fixed on the sideslip driven wheel axle, one end of sideslip driven wheel axle is connected with pitching motor fixing base fixed connection, the other end is fixedly connected with the frame through a bearing, so that the transverse motor is used for driving the transverse driving wheel to drive the transverse driven wheel to rotate through the synchronous belt, the pitching motor fixing seat is driven to transversely rotate left and right, and the transverse rotation of the sea cucumber suction pipe is realized.
The utility model discloses a sea cucumber storing container is internally provided with a sea cucumber picking and placing mechanism, the sea cucumber picking and placing mechanism comprises rollers, a slide way, a locking member and a sea cucumber extracting box, the sea cucumber extracting box is arranged in the sea cucumber storing container, one end of the sea cucumber extracting box is provided with a through hole communicated with a steel wire hose, the other end is fixedly provided with an extracting plate, the rollers are respectively arranged on the two sides of the sea cucumber extracting box, the slide way matched with the rollers is fixedly arranged on the two sides of the inner wall of the sea cucumber storing container, the sea cucumber extracting box is connected with the sea cucumber storing container in a sliding way through the rollers and the slide way, the locking member is arranged between the sea cucumber extracting box and the sea cucumber storing container, the locking member comprises a locking rod, a locking handle, a pin shaft and a locking hook, the width of the extracting plate is larger than that of the sea cucumber extracting box, the two ends of the extracting plate are respectively provided with the locking handle, the two sides of the inner wall of the sea cucumber storing container are respectively fixedly provided with the locking hook, the utility model discloses a sea cucumber extracting box, including sea cucumber extracting box, lock lever, hasp couple, latch hook, catch hook, catch hook, and catch, catch hook, catch.
The suction power mechanism of the utility model can be composed of a switching tube, a spiral tube, a connecting tube and a negative pressure power source, the switching tube is arranged between the steel wire hose and the sea cucumber storage container, one end of the switching tube is fixedly connected with the steel wire hose, the other end is fixedly connected with the sea cucumber storage container, the spiral tube is arranged in the switching tube, the connecting tube is arranged outside the switching tube, one end of the switching tube facing the steel wire hose is fixedly connected with the spiral tube in a sealing way, one end of the spiral tube is communicated with the steel wire hose, the other end of the spiral tube faces the sea cucumber storage container and is communicated with the sea cucumber extraction box, the sea cucumber storage container and the sea cucumber extraction box are respectively provided with water permeable holes at intervals, the outer wall of the spiral tube is fixedly provided with screw threads, a water flow channel facing the sea cucumber extraction box is arranged between the outer wall of the spiral tube and the inner wall of the switching tube, one end of the connecting tube is fixedly connected with the switching tube and is communicated with the water flow channel, the other end of the sea cucumber suction pipe is connected with a negative pressure power source, the negative pressure power source is fixed on the rack and controlled by a control system, so that negative pressure is generated in the sea cucumber storage container through the negative pressure power source, the front end of the sea cucumber suction pipe generates suction, and the suction of the sea cucumber is realized.
The negative pressure power supply can be the water pump, the delivery port and the connecting pipe of water pump are connected, and the water inlet of water pump leads to pipe and is connected with the water source, water pump and frame fixed connection, the water pump is connected with control system to do benefit to the water pump and pump high-speed rivers in to rivers passageway through the connecting pipe, rivers pass through the outside screw thread of spiral pipe and carry and get into the sea cucumber and deposit the container in, produce the negative pressure towards the port department of sea cucumber extraction case at the screwed pipe, under the effect of external water pressure, the sea cucumber absorbs a tub front end and produces suction, accomplishes the sea cucumber and absorbs the operation.
Negative pressure power supply also can be for screw drive assembly, screw drive assembly includes screw and water collection cover, water collection cover one end is connected with the connecting pipe, and the other end is the free end of intaking, be equipped with the screw in the water collection cover, screw and water collection cover fixed connection, the screw is driven by control system to do benefit to and deposit the container through screw drive rivers entering sea cucumber, ooze through the hole of permeating water, make the sea cucumber deposit and produce the negative pressure in the container, make the sea cucumber absorb the pipe and accomplish the sea cucumber and absorb the operation.
Absorb power unit also can constitute by the motor that absorbs water, paddle and partition cover, the sea cucumber extraction incasement is equipped with the partition cover, partition cover and extraction board fixed connection, be equipped with the motor that absorbs water and paddle in the partition cover, the motor that absorbs water and partition cover fixed connection, the interval is fixed with the paddle on the output shaft of the motor that absorbs water, the motor that absorbs water is connected with control system to it is rotatory to do benefit to drive the paddle through the motor that absorbs water, makes the water of sea cucumber extraction incasement outwards discharge, and the sea cucumber extraction incasement produces the negative pressure, and the sea cucumber suction tube produces suction, accomplishes the sea cucumber and absorbs the operation.
Be equipped with the sealed change mechanism of battery in the frame, the sealed change mechanism of battery includes battery compartment, battery box, battery case lid, battery and screw, be equipped with the battery compartment in the frame, battery compartment one end opening, battery compartment and frame fixed connection, be equipped with the battery box in the battery compartment, the battery is arranged in the battery box and is sealed fixed connection through the battery case lid, in the battery compartment was arranged in to the battery box, the battery box both sides were through screw and battery compartment fixed connection to when doing benefit to needs to be changed the battery, take off the screw, can take out the battery box, carry out the battery change, the battery is deposited in the battery box simultaneously, and is sealed the saving, prevents the sea water invasion.
The fixed kickboard that is equipped with in the frame to do benefit to and improve the buoyancy that the frame received under water through the kickboard.
Fixed propeller, camera device and the lighting device of being equipped with in the frame, propeller, camera device and lighting device are connected with control system respectively to do benefit to and remove through propeller drive robot, observe and look for the sea cucumber through camera device and lighting device.
Pitching motor fixing base both sides are the fixed back connecting seat that is equipped with respectively, the straw presss from both sides the cover both sides and fixes the preceding connecting seat that is equipped with respectively, the every single move from the fixed axle of driving wheel through bearing and back connecting seat fixed connection, the connecting rod one end and the every single move of flexible steel wire one side are from the fixed axle fixed connection of driving wheel, the other end and preceding connecting seat fixed connection, the connecting rod one end warp beam, bearing and the back connecting seat fixed connection of flexible steel wire opposite side, the other end and preceding connecting seat fixed connection to do benefit to and improve the structural strength of sea cucumber absorption pipe through preceding connecting seat and back connecting seat.
At least, the extraction plate is fixedly provided with an extraction handle, so that the sea cucumber extraction box can be conveniently taken and placed through the extraction handle.
Fixed battery pull handle that is equipped with on the battery box to do benefit to and conveniently change the battery box through battery pull handle.
By adopting the above structure, the utility model, but have the pipe of absorption every single move yaw, absorb the sea cucumber efficient, energy consumption is few, the sea cucumber takes out advantages such as convenient, fast, the battery is changed conveniently.
Drawings
Fig. 1 is a schematic structural view of an angle of the present invention.
Fig. 2 is a schematic structural view of another angle of the present invention.
Fig. 3 is a front view of fig. 1 of the present invention.
Fig. 4 is an enlarged schematic structural view of the middle sea cucumber suction pipe, the suction pipe pitching mechanism and the suction pipe traversing mechanism of the utility model.
Fig. 5 is a rear view of fig. 4 of the present invention.
Fig. 6 is a schematic structural view of the middle suction power mechanism of the present invention.
Fig. 7 is a cross-sectional view of fig. 6 according to the present invention.
Fig. 8 is a schematic structural view of the battery seal replacing mechanism of the present invention.
Fig. 9 is a cross-sectional view of fig. 8 in the present invention.
Fig. 10 is a schematic structural view of another suction power mechanism of the present invention, in which the negative pressure power source is a water pump.
Fig. 11 is a partial sectional view of the suction power mechanism of fig. 10 according to the present invention.
Fig. 12 is a schematic structural view of another suction power mechanism of the present invention, in which the negative pressure power source is a propeller driving assembly.
Fig. 13 is a partial sectional view of the suction power mechanism of fig. 12 according to the present invention.
Reference numerals: the sea cucumber storage container comprises a frame 1, a suction power mechanism 2, an adapter tube 201, a spiral tube 202, a connecting tube 203, a water pump 204, a water permeable hole 205, a propeller driving component 206, a propeller 207, a water collecting cover 208, a sea cucumber storage container 3, a sea cucumber suction tube 4, a suction tube pitching mechanism 5, a pitching motor fixing seat 6, a pitching motor 7, a synchronous belt 8, a pitching driving wheel 9, a pitching driven wheel 10, a steel wire hose 11, a suction tube jacket 12, a suction tube elbow 13, a connecting rod 14, a suction tube traversing mechanism 15, a traversing motor 16, a traversing fixing seat 17, a traversing driving wheel 18, a traversing driven wheel 19, a traversing driven wheel shaft 20, a supporting shaft 21, a sea cucumber taking and placing mechanism 22, a roller 23, a locking member 24, a sea cucumber taking box 25, a taking plate 26, a locking rod 27, a locking handle 28, a water suction motor 29, a paddle 30, a battery seal replacing mechanism 31, a battery bin 32, a battery box 33 and a battery box cover 34, the battery 35, the screw 36, the floating plate 37, the propeller 38, the camera 39, the lighting device 40, the rear connecting seat 41, the front connecting seat 42, the drawing handle 44, the battery drawing handle 45 and the partition cover 46.
Detailed Description
The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.
The utility model provides a sea cucumber fishing robot, includes frame 1, be equipped with control system, absorb power unit 2, the sea cucumber deposits container 3 and sea cucumber and absorbs pipe 4, its characterized in that on the frame 1: an absorption pipe pitching mechanism 5 is arranged between the sea cucumber absorption pipe 4 and the rack 1, the absorption pipe pitching mechanism 5 is connected with the rack 1, and the absorption pipe pitching mechanism 5 drives the sea cucumber absorption pipe 4 to perform pitching operation.
The suction pipe pitching mechanism 5 of the utility model comprises a pitching motor fixing seat 6, a pitching motor 7, a synchronous belt 8, a pitching driving wheel 9, a pitching driven wheel 10 and a connecting rod 14, the sea cucumber suction pipe 4 comprises a steel wire hose 11, a suction pipe clamping sleeve 12 and a suction pipe elbow 13, one end of the steel wire hose 11 is fixedly connected with a sea cucumber storage container 3, the other end is fixedly connected with the suction pipe elbow 13, the pitching motor fixing seat 6 is fixedly arranged on the steel wire hose 11, the connecting rod 14 is respectively arranged on two sides of the steel wire hose 11, the suction pipe clamping sleeve 12 is arranged on the suction pipe elbow 13, the suction pipe clamping sleeve 12 is sleeved on the suction pipe elbow 13 and is fixedly connected with the suction pipe elbow 13, the pitching motor fixing seat 6 is connected with a frame 1, the pitching motor 7 is fixedly arranged on the pitching motor fixing seat 6, the pitching motor 7 is connected with a control system, the pitching driving wheel 9 is fixedly arranged on an output shaft of the pitching motor 7, the pitching driving wheel 9 is connected with the pitching driven wheel 10 through the synchronous belt 8, the fixed shaft of the pitching driven wheel 10 is fixedly connected with the pitching motor fixing seat 6 through a bearing, one end of the connecting rod 14 on one side of the steel wire hose 11 is fixedly connected with the fixed shaft of the pitching driven wheel 10, the other end of the connecting rod is fixedly connected with the suction pipe jacket 12, one end of the connecting rod 14 on the other side of the steel wire hose 11 is fixedly connected with the pitching motor fixing seat 6 through a shaft and a bearing, and the other end of the connecting rod is fixedly connected with the suction pipe jacket 12, so that the pitching driving wheel is driven by the pitching motor to drive the pitching driven wheel to rotate through the synchronous belt, the pitching driven wheel drives the steel wire hose to perform pitching motion through the connecting rod to realize pitching of the suction pipe elbow, the underwater sea cucumbers with different heights can be picked up without moving a frame, the sea cucumbers are high in picking up efficiency and low energy consumption.
The utility model discloses a be equipped with between sea cucumber suction tube 4 and the frame 1 and absorb tub sideslip mechanism 15, absorb tub sideslip mechanism 15 includes sideslip motor 16, sideslip fixing base 17, sideslip drive wheel 18, sideslip driven wheel 19, hold-in range and sideslip driven wheel shaft 20, pitching motor fixing base 6 one side is equipped with sideslip fixing base 17, pitching motor fixing base 6 upper end is equipped with back shaft 21, the lower extreme is equipped with sideslip driven wheel shaft 20, back shaft 21 upper end through bearing and frame 1 fixed connection, the lower extreme and pitching motor fixing base 6 fixed connection, sideslip fixing base 17 and frame 1 fixed connection, transversely rotate fixing base 17 on be fixed with sideslip motor 16, sideslip motor 16 is connected with control system, transversely rotate motor 16's output shaft on the fixed sideslip drive wheel 18 that is equipped with, sideslip drive wheel 18 through the hold-in range with sideslip driven wheel 19 is connected, the transverse rotation driven wheel 19 is fixed on a transverse rotation driven wheel shaft 20, one end of the transverse rotation driven wheel shaft 20 is fixedly connected with the pitching motor fixing seat 6, and the other end of the transverse rotation driven wheel shaft is fixedly connected with the rack 1 through a bearing, so that the transverse rotation driving wheel is driven by the transverse rotation motor to drive the transverse rotation driven wheel to rotate through the synchronous belt, the pitching motor fixing seat is driven to transversely rotate left and right, and the transverse rotation of the sea cucumber sucking pipe is realized.
The utility model discloses a sea cucumber is deposited and is equipped with sea cucumber in the container 3 and gets and put mechanism 22, sea cucumber is got and is put mechanism 22 includes gyro wheel 23, slide, retaining member 24 and sea cucumber extraction case 25, sea cucumber is deposited container 3 and is fixedly connected with frame 1, be equipped with sea cucumber extraction case 25 in the sea cucumber is deposited container 3, sea cucumber extraction case 25 one end is equipped with the through-hole that is linked together with the steel wire hose, and the other end is fixed and is equipped with extraction board 26, gyro wheel 23 is installed respectively to sea cucumber extraction case 25 both sides, sea cucumber is deposited container 3 inner wall both sides and is fixed and is equipped with the slide with gyro wheel 23 matched with, sea cucumber extraction case 25 is through gyro wheel 23, slide and sea cucumber is deposited container 3 sliding connection, be equipped with retaining member 24 between sea cucumber extraction case 25 and the sea cucumber storage container 3, retaining member 24 includes check lock lever 27, locking handle 28, round pin axle and hasp, the width of extraction board 26 is greater than the width of sea cucumber extraction case 25, the two ends of the extracting plate 26 are respectively provided with a locking handle 28, the two sides of the inner wall of the sea cucumber storing container 3 are respectively fixedly provided with a locking hook, one end of a locking rod 27 is hinged to the locking handle 28, the other end of the locking rod passes through the extracting plate 26 to be matched and hooked with the locking hook, the sea cucumber extracting box 25 is arranged in the sea cucumber storing container 3, the extracting plate 26 abuts against the end face of the sea cucumber storing container 3, the sea cucumber extracting box 25 is fixedly connected with the sea cucumber storing container 3 through the locking rod 27, the locking hook and the locking handle 28 so as to be beneficial to locking the handle through rotation, the locking rod is fixedly hooked with the locking hook, and the sea cucumber extracting box is limited in the sea cucumber storing container.
The suction power mechanism 2 of the utility model can be composed of an adapter tube 201, a spiral tube 202, a connecting tube 203 and a negative pressure power source, the adapter tube 201 is arranged between the steel wire hose 11 and the sea cucumber storage container 3, one end of the adapter tube 201 is fixedly connected with the steel wire hose 11, the other end is fixedly connected with the sea cucumber storage container 3, the spiral tube 202 is arranged in the adapter tube 201, the connecting tube 203 is arranged outside the adapter tube 201, one end of the adapter tube 201 facing the steel wire hose 11 is fixedly connected with the spiral tube 202 in a sealing way, one end of the spiral tube 202 is communicated with the steel wire hose 11, the other end faces the sea cucumber storage container 3 and is communicated with a sea cucumber extraction box 25, the sea cucumber storage container 3 and the sea cucumber extraction box 25 are respectively provided with water permeable holes 205 at intervals, the outer wall of the spiral tube 202 is fixedly provided with screw threads, a water flow channel facing the sea cucumber extraction box 25 is arranged between the outer wall of the spiral tube 202 and the inner wall of the adapter tube 201, one end of the connecting pipe 203 is fixedly connected with the switching pipe 201 and communicated with the water flow channel, the other end of the connecting pipe is connected with a negative pressure power source, the negative pressure power source is fixed on the rack 1 and controlled by the control system, so that negative pressure is generated in the sea cucumber storage container through the negative pressure power source, the suction force is generated at the front end of the sea cucumber suction pipe, and the suction of the sea cucumber is realized.
Negative pressure power supply can be water pump 204, the delivery port of water pump 204 is connected with connecting pipe 203, and the water inlet and the water source of water pump 204 are connected, water pump 204 and 1 fixed connection in frame, water pump 204 is connected with control system to do benefit to the water pump through the connecting pipe to the rivers passageway in the high-speed rivers of pumping, rivers pass through the outside screw thread of spiral pipe and carry the entering sea cucumber to deposit the container in, produce the negative pressure towards the port department of sea cucumber extraction case at the screwed pipe, under the external water pressure effect, sea cucumber suction pipe front end produces suction, accomplishes the sea cucumber and absorbs the operation.
Negative pressure power supply also can be screw drive assembly 206, screw drive assembly 206 includes screw 207 and water collection cover 208, water collection cover 208 one end is connected with connecting pipe 203, and the other end is the free end of intaking, be equipped with screw 207 in the water collection cover 208, screw 207 and water collection cover 208 fixed connection, screw 207 is driven by control system to do benefit to and deposit the container through screw drive rivers entering sea cucumber, ooze through the hole of permeating water, make the sea cucumber deposit the container in produce the negative pressure, impel the sea cucumber suction pipe to accomplish the sea cucumber and absorb the operation.
Suction power unit 2 also can constitute by motor 29, paddle 30 and the separation cover 46 that absorbs water, be equipped with the separation cover 46 in the sea cucumber extraction case 25, separation cover 46 and extraction board 26 fixed connection, be equipped with motor 29 and paddle 30 that absorbs water in the separation cover 46, motor 29 and the separation cover 46 fixed connection absorb water, the interval is fixed with paddle 30 on the output shaft of motor 29 that absorbs water, motor 29 that absorbs water is connected with control system to it drives the paddle rotation through the motor that absorbs water to do benefit to, makes the inside water of sea cucumber extraction incasement outwards discharge, and the sea cucumber extraction incasement produces the negative pressure, and the sea cucumber suction tube produces suction, accomplishes the sea cucumber and absorbs the operation.
Be equipped with battery seal change mechanism 31 in frame 1, battery seal change mechanism 31 includes battery compartment 32, battery box 33, battery box lid 34, battery 35 and screw 36, be equipped with battery compartment 32 in frame 1, battery compartment 32 one end opening, battery compartment 32 and frame 1 fixed connection, be equipped with battery box 33 in the battery compartment 32, battery 35 arranges battery box 33 in and seals fixed connection through battery box lid 34, battery box 33 arranges battery compartment 32 in, and battery box 33 both sides are through screw 36 and battery box 32 fixed connection to when doing benefit to needs to be changed the battery, take off the screw, can take out the battery box, carry out the battery change, the battery leaves the battery box in simultaneously, and is sealed to preserve, prevents the sea water invasion.
Frame 1 is last to fix and is equipped with kickboard 37 to do benefit to and improve the buoyancy that the frame received under water through the kickboard.
Fixed propeller 38, camera device 39 and lighting device 40 of being equipped with on frame 1, propeller 38, camera device 39 and lighting device 40 are connected with control system respectively to do benefit to and remove through propeller drive robot, observe and look for the sea cucumber through camera device and lighting device.
6 both sides of every single move motor fixing base are the fixed back connecting seat 41 that is equipped with respectively, connecting seat 42 before the straw presss from both sides cover 12 both sides are the fixed fixing of being equipped with respectively, every single move is from the fixed axle of driving wheel 10 through bearing and back connecting seat 41 fixed connection, 14 one end of connecting rod and the every single move of wire hose 11 one side are from the fixed axle fixed connection of driving wheel 10, the other end and preceding connecting seat 42 fixed connection, 14 one end warp axles of connecting rod, bearing and back connecting seat 41 fixed connection of wire hose 11 opposite side, the other end and preceding connecting seat 42 fixed connection to do benefit to and improve the structural strength of sea cucumber absorption pipe through preceding connecting seat and back connecting seat.
At least one extraction handle 44 is fixedly arranged on the extraction plate 26, so as to be beneficial to taking and placing the sea cucumber extraction box conveniently through the extraction handle.
Fixed battery pull handle 45 that is equipped with on battery box 33 to do benefit to and conveniently change the battery box through battery pull handle.
As shown in attached figures 1-9, before use, a control system on the robot can be connected with a control platform on water through a cable, so that a fisherman can conveniently control the robot on the shore, a hoisting frame can be arranged on a rack, the robot is convenient to hoist, when in use, the robot is put under water through the hoisting frame and the cable, the position of the robot under water is adjusted through a propeller, the robot observes and checks the position of the sea cucumber under water through a high-definition camera of a camera device and a lighting lamp of a lighting device, then a suction pipe pitching mechanism and a suction pipe transverse rotating mechanism are started to grab the sea cucumber by driving a sea cucumber suction pipe to pitch up and down and transversely rotate left and right, the robot is prevented from being frequently moved, the time and energy of the robot moving back and forth are saved, the efficiency of catching the sea cucumber is improved, compared with the prior art, for the sea cucumbers at different heights under water, the pitching motor is started to realize the up-and-down pitching of the suction pipe, and the sea cucumber suction efficiency is high; secondly, the sea cucumber extracting box in the utility model can be taken out from the sea cucumber storing container, when in use, the sea cucumber extracting box is fixed in the sea cucumber storing container through the locking piece and is used for storing the sea cucumbers absorbed by the sea cucumber absorbing pipe, and the position of the absorbing pipe is adjusted through the absorbing pipe pitching mechanism and the absorbing pipe traversing mechanism, the utility model provides three absorbing power mechanisms, one of which is shown in the attached drawings 10 and 11, the water pump is arranged outside the sea cucumber storing container, and the sea cucumber extracting box generates negative pressure by pumping high-speed water flow into the sea cucumber storing container, so that the suction pipe elbow generates suction force to absorb the sea cucumbers; secondly, as shown in the attached figures 12 and 13, a propeller driving assembly is adopted as a negative pressure power source, a water source is sucked to enter the sea cucumber storage container through a water collecting cover and a connecting pipe by driving a propeller to rotate, water flows out through a water permeable hole, so that negative pressure is generated in the sea cucumber storage container, and further suction is generated at a suction pipe elbow to suck the sea cucumbers; the third is that the motor is arranged in the sea cucumber extracting box, as shown in the attached drawings 6 and 7, the water absorbing motor drives the paddle to rotate, so that negative pressure is generated by water discharged from the interior of the sea cucumber extracting box, suction force is generated at the front end of the suction pipe, and the sea cucumber is absorbed; thirdly, as shown in the attached figures 8 and 9, the battery box can be integrally taken out of the battery bin, the screw is convenient to assemble and disassemble, the battery is convenient to replace, and a fisherman does not need to be provided with a self-contained power supply during fishing operation and only needs to carry a spare battery.
By adopting the above structure, the utility model, but have the pipe of absorption every single move yaw, absorb the sea cucumber efficient, energy consumption is few, the sea cucumber takes out advantages such as convenient, fast, the battery is changed conveniently.

Claims (10)

1. The utility model provides a sea cucumber fishing robot, includes frame (1), be equipped with control system, absorb power unit (2), sea cucumber on frame (1) and deposit container (3) and sea cucumber and absorb pipe (4), its characterized in that: an absorption pipe pitching mechanism (5) is arranged between the sea cucumber absorption pipe (4) and the rack (1), the absorption pipe pitching mechanism (5) is connected with the rack (1), and the absorption pipe pitching mechanism (5) drives the sea cucumber absorption pipe (4) to perform pitching operation.
2. The sea cucumber catching robot as claimed in claim 1, wherein: the suction pipe pitching mechanism (5) comprises a pitching motor fixing seat (6), a pitching motor (7), a synchronous belt (8), a pitching driving wheel (9), a pitching driven wheel (10) and a connecting rod (14), the sea cucumber suction pipe (4) comprises a steel wire hose (11), a suction pipe clamping sleeve (12) and a suction pipe elbow (13), one end of the steel wire hose (11) is fixedly connected with the sea cucumber storage container (3), the other end of the steel wire hose is fixedly connected with the suction pipe elbow (13), the pitching motor fixing seat (6) is fixedly arranged on the steel wire hose (11), the connecting rods (14) are respectively arranged on two sides of the steel wire hose (11), the suction pipe clamping sleeve (12) is arranged on the suction pipe elbow (13), the suction pipe clamping sleeve (12) is sleeved on the suction pipe elbow (13) and is fixedly connected with the suction pipe elbow (13), and the pitching motor fixing seat (6) is connected with the rack (1), the pitching motor is characterized in that a pitching motor (7) is fixedly arranged on the pitching motor fixing seat (6), the pitching motor (7) is connected with a control system, a pitching driving wheel (9) is fixedly arranged on an output shaft of the pitching motor (7), the pitching driving wheel (9) is connected with a pitching driven wheel (10) through a synchronous belt (8), a fixed shaft of the pitching driven wheel (10) is fixedly connected with the pitching motor fixing seat (6) through a bearing, one end of a connecting rod (14) on one side of a steel wire hose (11) is fixedly connected with the fixed shaft of the pitching driven wheel (10), the other end of the connecting rod is fixedly connected with a straw clamping sleeve (12), one end of the connecting rod (14) on the other side of the steel wire hose (11) is connected with the pitching motor fixing seat (6) through a shaft and a bearing, and the other end of the connecting rod is fixedly connected with the straw clamping sleeve (12).
3. The sea cucumber catching robot as claimed in claim 2, wherein: a transverse rotation mechanism (15) of the suction pipe is arranged between the sea cucumber suction pipe (4) and the frame (1), the transverse rotation mechanism (15) of the suction pipe comprises a transverse rotation motor (16), a transverse rotation fixing seat (17), a transverse rotation driving wheel (18), a transverse rotation driven wheel (19), a synchronous belt and a transverse rotation driven wheel shaft (20), one side of the pitching motor fixing seat (6) is provided with the transverse rotation fixing seat (17), the upper end of the pitching motor fixing seat (6) is provided with a supporting shaft (21), the lower end of the pitching motor fixing seat is provided with the transverse rotation driven wheel shaft (20), the upper end of the pitching motor fixing seat (6) is connected with the frame (1) through the supporting shaft (21) and a bearing, the transverse rotation fixing seat (17) is fixedly connected with the frame (1), a transverse rotation motor (16) is fixedly arranged on the transverse rotation fixing seat (17), the transverse rotation motor (16) is connected with a control system, and a transverse rotation driving wheel (18) is fixedly arranged on an output shaft of the transverse rotation motor (16), the transverse rotation driving wheel (18) is connected with a transverse rotation driven wheel (19) through a synchronous belt, the transverse rotation driven wheel (19) is fixed on a transverse rotation driven wheel shaft (20), one end of the transverse rotation driven wheel shaft (20) is fixedly connected with the pitching motor fixing seat (6), and the other end of the transverse rotation driven wheel shaft is fixedly connected with the rack (1) through a bearing.
4. The sea cucumber catching robot as claimed in claim 1, 2 or 3, wherein: a sea cucumber taking and placing mechanism (22) is arranged in the sea cucumber storage container (3), the sea cucumber taking and placing mechanism (22) comprises a roller (23), a slideway, a locking piece (24) and a sea cucumber extracting box (25), a sea cucumber extraction box (25) is arranged in the sea cucumber storage container (3), a through hole communicated with the steel wire hose is arranged on the sea cucumber extraction box (25), the two sides of the sea cucumber extracting box (25) are respectively provided with a roller (23), the two sides of the inner wall of the sea cucumber storing container (3) are fixedly provided with a slideway matched with the rollers (23), the sea cucumber extracting box (25) is connected with the sea cucumber storing container (3) in a sliding way through the rollers (23) and the slide way, a locking piece (24) is arranged between the sea cucumber extracting box (25) and the sea cucumber storing container (3), the sea cucumber extracting box (25) is fixedly connected with the sea cucumber storing container (3) through a locking piece (24).
5. The sea cucumber catching robot as claimed in claim 1, 2 or 3, wherein: the suction power mechanism (2) is composed of an adapter tube (201), a spiral tube (202), a connecting tube (203) and a negative pressure power source, the adapter tube (201) is arranged between the sea cucumber suction tube (4) and the sea cucumber storage container (3), one end of the adapter tube (201) is fixedly connected with the sea cucumber suction tube (4), the other end of the adapter tube is fixedly connected with the sea cucumber storage container (3), the spiral tube (202) is arranged in the adapter tube (201), the connecting tube (203) is arranged outside the adapter tube (201), one end of the adapter tube (201) facing the sea cucumber suction tube (4) is fixedly connected with the spiral tube (202) in a sealing way, one end of the spiral tube (202) is communicated with the sea cucumber suction tube (4), the other end of the spiral tube faces the sea cucumber storage container (3) and is communicated with the sea cucumber storage container (3), and the sea cucumber storage container (3) is provided with water permeable holes (205) at intervals, the sea cucumber storage device is characterized in that threads are fixedly arranged on the outer wall of the spiral pipe (202), a water flow channel facing a sea cucumber storage container (3) is arranged between the outer wall of the spiral pipe (202) and the inner wall of the adapter pipe (201), one end of the connecting pipe (203) is fixedly connected with the adapter pipe (201) and communicated with the water flow channel, the other end of the connecting pipe is connected with a negative pressure power source, the negative pressure power source is fixed on the rack (1), and the negative pressure power source is controlled by the control system.
6. The sea cucumber catching robot as claimed in claim 5, wherein: the negative pressure power source is a water pump (204), a water outlet of the water pump (204) is connected with the connecting pipe (203), a water inlet of the water pump (204) is connected with a water source, the water pump (204) is fixedly connected with the rack (1), and the water pump (204) is connected with the control system.
7. The sea cucumber catching robot as claimed in claim 5, wherein: the negative pressure power source is screw drive subassembly (206), screw drive subassembly (206) are including screw (207) and water collection cover (208), water collection cover (208) one end is connected with connecting pipe (203), and the other end is the free end of intaking, be equipped with screw (207) in water collection cover (208), screw (207) and water collection cover (208) fixed connection, screw (207) are driven by control system.
8. The sea cucumber catching robot as claimed in claim 1, 2 or 3, wherein: the sea cucumber storage container is characterized in that the suction power mechanism (2) is composed of a water absorption motor (29), blades (30) and a separation cover (46), the separation cover (46) is fixedly arranged in the sea cucumber storage container (3), the water absorption motor (29) and the blades (30) are arranged in the separation cover (46), the water absorption motor (29) is fixedly connected with the separation cover (46), the blades (30) are fixed on an output shaft of the water absorption motor (29) at intervals, and the water absorption motor (29) is connected with a control system.
9. The sea cucumber catching robot as claimed in claim 1, 2 or 3, wherein: be equipped with battery seal change mechanism (31) on frame (1), battery seal change mechanism (31) includes battery compartment (32), battery box (33), battery case lid (34) and battery (35), be equipped with battery compartment (32) on frame (1), battery compartment (32) one end opening, battery compartment (32) and frame (1) fixed connection, be equipped with battery box (33) in battery compartment (32), battery (35) are arranged in battery box (33) through battery case lid (34) sealed fixed connection, battery box (33) are arranged in battery compartment (32) and are connected with battery compartment (32).
10. The sea cucumber catching robot as claimed in claim 2 or 3, wherein: the pitching motor is characterized in that rear connecting seats (41) are fixedly arranged on two sides of the pitching motor fixing seat (6) respectively, front connecting seats (42) are fixedly arranged on two sides of the suction pipe clamping sleeve (12) respectively, a fixed shaft of the pitching driven wheel (10) is fixedly connected with the rear connecting seats (41) through a bearing, one end of a connecting rod (14) on one side of the steel wire hose (11) is fixedly connected with the fixed shaft of the pitching driven wheel (10), the other end of the connecting rod is fixedly connected with the front connecting seats (42), one end of the connecting rod (14) on the other side of the steel wire hose (11) is fixedly connected with the rear connecting seats (41) through a shaft and a bearing, and the other end of the connecting rod is fixedly connected with the front connecting seats (42).
CN202120469944.9U 2021-03-04 2021-03-04 Sea cucumber catching robot Active CN214546666U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120469944.9U CN214546666U (en) 2021-03-04 2021-03-04 Sea cucumber catching robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120469944.9U CN214546666U (en) 2021-03-04 2021-03-04 Sea cucumber catching robot

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Publication Number Publication Date
CN214546666U true CN214546666U (en) 2021-11-02

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114176053A (en) * 2021-12-14 2022-03-15 中国海洋大学 Device for underwater harvesting
CN114304090A (en) * 2022-01-12 2022-04-12 桂林电子科技大学 Underwater grabbing robot with openable basket
CN114735163A (en) * 2022-05-20 2022-07-12 广东海洋大学 Robot is salvaged to dead fish under water
CN116495143A (en) * 2023-03-23 2023-07-28 南京工程学院 Underwater sea cucumber catching robot with overall structure and bionic design

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114176053A (en) * 2021-12-14 2022-03-15 中国海洋大学 Device for underwater harvesting
CN114304090A (en) * 2022-01-12 2022-04-12 桂林电子科技大学 Underwater grabbing robot with openable basket
CN114735163A (en) * 2022-05-20 2022-07-12 广东海洋大学 Robot is salvaged to dead fish under water
CN116495143A (en) * 2023-03-23 2023-07-28 南京工程学院 Underwater sea cucumber catching robot with overall structure and bionic design
CN116495143B (en) * 2023-03-23 2023-11-03 南京工程学院 Underwater sea cucumber catching robot with overall structure and bionic design

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